QUUV: A quadrotor-like unmanned underwater vehicle with thrusts configured as X shape

A quadrotor-like unmanned underwater vehicle (QUUV) is presented in this paper. The four fixed thrusters are configured as X shape through which the QUUV has vertical and horizontal movements decoupled. Its mathematical model and motion analysis are introduced accordingly. The differences with conventional underwater vehicles are also discussed to show its merits. Sliding mode control is adopted to design its controller. Various motions with the sliding mode controller are simulated, followed by an experiment test in a small pool.